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Coprime Factorization-Based Encryption and Attack Detection for Nonlinear Cyber-Physical Systems Using Deep Learning Approach

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IEEE Transactions on Automation science and Engineering 2025年 22卷 14020-14029页

作者： Wu, Shimeng Luo, Hao Zhang, Jiusi Qiao, Xinyu Tian, Jilun Jiang, Yuchen Harbin Institute of Technology Department of Control and Simulation Center Harbin150001 China National Key Laboratory ofComplex System Control and Intelligent Agent Cooperation Harbin150001 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China

This paper presents a data-driven framework for integrating encryption transmission and attack detection in cyber-physical systems (CPS) with nonlinear physical plants. The main focus of this research is to use deep neural networks to realize the coprime factorization (CF) of nonlinear systems. The definition of the CF guides the network training and designing process, and the model’s topology is designed in the state-space form, which improves the interpretability of the data-driven CF. Based on the CF-aided neural networks, an encrypted transmission module is designed that projects information related to system dynamics into a perpendicular data space, which complements existing encryption methods from a control theory perspective. Subsequently, an anomaly detector are designed using the same CF pairs. This detector not only provides high-accuracy detection of attacks but also distinguishes between attacks and faults, thereby reducing the false positive rate and enhancing the reliability of the attack detection. The proposed method has been validated in a real CPS using a mecanum-wheeled vehicle as the physical plant, demonstrating its effectiveness and applicability. © 2004-2012 IEEE.

关键词： Factorization

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Temporal Dynamic Frequency Autoencoder: Enhancing the Performance of Unsupervised Dimensionality Reduction for Gravitational Wave Glitch Clustering 24

Temporal Dynamic Frequency Autoencoder: Enhancing the Perfor...

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4th Asia-Pacific Artificial Intelligence and Big Data Forum, AIBDF 2024

作者： Xiao, Wanhai Ma, Cunliang Cai, Yiting Jiangxi Provincial Key Laboratory of Multidimensional Intelligent Perception and Control Jiangxi University of Science and Technology Jiangxi Ganzhou China

ISBN: (纸本)9798400710865

With the ongoing advancements in gravitational wave detection technology, the results are becoming increasingly precise. However, it is precisely this high precision that has led to the detection of noise signals that should not have been recorded, which are then mixed with real gravitational wave signals. As a result, efficient and accurate algorithms are needed to distinguish between these signals and noise. Past research has mostly relied on fully supervised or semi-supervised learning methods to classify and cluster these glitches, thereby improving the accuracy and reliability of glitch detection. However, neural networks typically require a large amount of training data to perform well, and in future work, it is impractical to manually label a vast number of experimental samples. Additionally, as time progresses, new unlabeled glitches may emerge. To address this issue, we adopted a Temporal Dynamic Frequency Autoencoder (TDFAE) based on a Kolmogorov-Arnold Network (KAN) that integrates Vision Transformers (ViT) and a four-branch encoder. To enhance feature extraction accuracy, we utilized a multi-branch fusion approach with the CLS (Class) token. This innovative unsupervised learning technique focuses on dimensionality reduction and clustering of gravitational wave glitches. Our approach, tested on the GravitySpy O3 dataset, outperforms current semi-supervised learning methods in clustering tasks. Additionally, our work on unsupervised clustering methods for traditional LIGO datasets offers significant potential, representing a key advancement in gravitational wave research. © 2024 Copyright held by the owner/author(s).

关键词： Dimensionality reduction

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Monocular Depth Estimation Algorithm Guided by Global Structure and Local Details 24

Monocular Depth Estimation Algorithm Guided by Global Struct...

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4th Asia-Pacific Artificial Intelligence and Big Data Forum, AIBDF 2024

作者： Wang, Wenhao Ma, Cunliang Jiangxi Provincial Key Laboratory of Multidimensional Intelligent Perception and Control Jiangxi University of Science and Technology Jiangxi Ganzhou China

ISBN: (纸本)9798400710865

In the current encoder-decoder architecture for monocular depth estimation, there are issues with unclear structural details of depth scene objects during the decoder’s upsampling process, as well as insufficient capability to extract contextual information from the scene. To address these problems, this paper proposes a monocular depth estimation algorithm guided by global structure and local details. The algorithm utilizes a pre-trained Swin-Transformer as the encoder to downsample the monocular image and extract multi-scale features from different levels of encoder representations. During the decoder phase, high-level features are fused with low-level features to create feature guidance maps enriched with structural semantic and positional information. These maps are then refined layer by layer with local detail feature maps output from a context aggregation module. This process ensures the model retains more global and local information during the multi-scale feature fusion. Finally, global structure guidance maps and local detail guidance maps from all layers are combined to predict the final depth map. Extensive experimental results on both indoor and outdoor datasets demonstrate the superiority of the proposed model. Compared to the AdaBins algorithm, our approach reduces RMSE by 10.46% and 7.41% on the KITTI and NYU Depth v2 datasets, respectively. © 2024 Copyright held by the owner/author(s).

关键词： Decoding

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Non-Line-of-Sight Identification and Localization Using UWB Based on Deep Learning 24

Non-Line-of-Sight Identification and Localization Using UWB ...

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4th Asia-Pacific Artificial Intelligence and Big Data Forum, AIBDF 2024

作者： Huang, Kangni Yu, Meng Song, Penghui Long, Keliu Jiangxi Provincial Key Laboratory of Multidimensional Intelligent Perception and Control Jiangxi University of Science and Technology Jiangxi Ganzhou China

ISBN: (纸本)9798400710865

Due to its characteristics of high precision, high reliability, and low power consumption, UWB technology is widely used in indoor positioning. However, the performance of UWB positioning systems can be affected by issues such as multipath effects and signal attenuation in both non-line-of-sight (NLOS) and line-of-sight (LOS) environments. This paper proposes an algorithm for NLOS and LOS state identification and localization using UWB, based on deep learning. First, a recognition model suitable for NLOS and LOS environments is established by analyzing UWB channel models and signal characteristics. Then, a method for identifying NLOS and LOS states is designed using deep learning techniques, with classification accuracy metrics introduced to evaluate model performance. To validate the proposed positioning algorithm, a UWB node positioning system is designed and tested in real environments. Experiments were conducted in two different environments-a basement and a lounge-to verify the positioning performance. Subsequently, the deep learning-based NLOS error identification and mitigation algorithm proposed in this paper was tested. The experiments compared the effects of different deep learning algorithms on NLOS error identification and mitigation. Results show that the positioning algorithm using the Convolutional Neural Network Long Short-Term Memory (CNN-LSTM) model performs best in identifying and mitigating NLOS errors, achieving the highest positioning accuracy. The study results demonstrate that the proposed algorithm not only has theoretical value but also shows great potential for practical applications. © 2024 Copyright held by the owner/author(s).

关键词： Convolutional neural networks

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Data-Driven Group Formation control of Cyber-Physical Systems via Distributed Cloud Computing

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2025年 3卷 341-350页

作者： Ren, Hongru Long, Yinren Li, Hongyi Huang, Tingwen Guangdong University of Technology School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative Control Guangzhou510006 China Southwest University College of Electronic and Information Engineering Chongqing400715 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

This paper investigates the group formation control problem for cyber-physical systems (CPSs) with random communication constraints. The distributed cloud computing system is constructed to divide agents into groups and establish communication between agents. A data-driven predictive control strategy is proposed by combining networked predictive control and model-free adaptive control method. The desired group formation control performance can be achieved and the three-channel random communication constraints of CPSs are actively compensated. Thisstrategy does not require the system model and relies solely on the system's I/O data for adaptive learning. Further analyses concludes the conditions for simultaneous reach stability and group formation of the closed-loop CPSs using the data-driven predictive control strategy. The effectiveness of the proposed strategy is validated by simulation results. © 2023 IEEE.

关键词： Distributed cloud

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Optimal Adaptive Parameter Estimation With Online Varying Learning Gain

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IEEE Transactions on Automatic control 2025年第5期70卷 3518-3525页

作者： Chen, Siyu Na, Jing Huang, Yingbo Xing, Yashan Zhao, Jing Wong, Pak Kin Kunming University of Science and Technology Faculty of Mechanical and Electrical Engineering Yunnan Key Laboratory of Intelligent Control and Application Kunming650500 China University of Macau Department of Electromechanical Engineering 999078 China

It has been well known that the learning gain plays a crucial role in the adaptive parameter estimation (APE) for guaranteeing fast convergence and robustness. However, the tuning of learning gains in the existing methods is generally empirical and time-consuming. To address this issue, this article presents a novel APE approach to explore the optimality principle in the design of adaptive laws to obtain an online updated optimal learning gain, which is derived to minimize a cost function of estimation error with two weighting matrices. For this purpose, the estimation error is first reconstructed by using filter operations on the system and introducing several auxiliary variables. Then, two constructive APE algorithms driven by the extracted estimation error are developed. Finally, inspired by the duality of control and estimation, the estimation error dynamics are reformulated as a closed-loop system with an analogous control action to minimize the cost function. By using the Hamiltonian function, a differential Riccati equation is derived to find an optimal solution of learning gain to construct an optimal adaptive law. The robustness of the proposed adaptive laws subjected to disturbances is also analyzed. Comparative numerical simulations are given to illustrate the superiority of the proposed method. © 1963-2012 IEEE.

关键词： Cost functions

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Noncollocated Output Feedback control for the Semilinear Parabolic PDEs Under Input and Output Quantization

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IEEE Transactions on Automatic control 2025年第5期70卷 2934-2947页

作者： Zhao, Xuena Liu, Zhijie Zhang, Shuang Liu, Yu He, Wei University of Science and Technology Beijing Institute of Artificial Intelligence Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Beijing100083 China School of Automation Science and Engineering Engineering Research Center of Precision Electronic Manufacturing Equipment of Ministry of Education Guangzhou510640 China Institute of Artificial Intelligence Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Beijing100083 China School of Automation Beijing102206 China

In the context of increasingly networked control systems, this article concentrates on the noncollocated control issue of input and output quantization for industrial processes governed by semilinear parabolic partial differential equation (PDE) systems. Both the control and measurement signals are quantized and transmitted through the network, which causes signal errors and reduces the stability and robustness of the system. A Luenberger-type PDE observer is developed to overcome the control difficulty of quantized measurement feedback signals and noncollocated pointwise sensors. Based on the observed value, a feedback controller is proposed, which undergoes quantization and operates on the distributed actuators within the domain. By employing the Lyapunov direct method, it is demonstrated that the observer can accurately track the system state with exponential precision, and the closed-loop system is exponentially converged. The well-posedness analysis of the closed-loop system is discussed via the C0-semigroup method. The performance of the developed control strategy is validated through simulation examples. © 1963-2012 IEEE.

关键词： Feedback control

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Improving aircraft nose wheel steering stability based on control continuation method

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science China(Technological sciences) 2025年第3期68卷 258-277页

作者： Qiaozhi YIN Dexu KONG Jiawei WANG Hong NIE Xiaohui WEI National Key Laboratory of Helicopter Aeromechanics Nanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing210016China Key Laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle Nanjing210016China AVIC Nanjing Engineering Institute of Aircraft Systems Nanjing211106China

Aircraft steering instability during the taxiing process sometimes occurs resulting from the unstable bifurcation phenomena of the nonlinear steering dynamic system,which may lead to severe *** this study,the control parameter design of an aircraft nose wheel steering control system based on the control continuation method is proposed to reduce the number of unstable bifurcation points and enlarge the system stable region area in a certain parameter ***,the aircraft turning performance can be improved ***,a nonlinear aircraft rollout dynamic model is constructed,and the aircraft ground steering bifurcation characteristics are obtained under the open-loop steering control ***,the bifurcation performances under three closed-loop nose wheel steering controllers based on the feedback control method are compared,and the control parameter of the quadratic nonlinear controller with a better bifurcation control effect is selected as a second bifurcation parameter to analyze the directional system stability via two-parameter bifurcation ***,the influence of a crosswind on the aircraft ground steering bifurcation performance is studied for various control parameter ***,the control effects of a traditional proportional-integral-derivative(PID)nose wheel steering control law and the designed feedback controller are compared and ***,a semi-physical experiment of the aircraft nose wheel steering system is carried out,and different control parameter values are selected for test verification,which can further verify the control effect of the designed nonlinear feedback *** results indicate that the feedback control method is unable to vary the system bifurcation types,but appropriate control parameter design can effectively shrink the system instability region and even eliminate the unstable Hopf bifurcation points under some specific working conditions,improving the aircraft ground turning stability re

关键词： aircraft taxiing dynamics and stability nose wheel steering control system control continuation steering bifurcation characteristics quadratic feedback control

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Structure design and analysis of a rigid-soft robotic hand with large load capacity 3

Structure design and analysis of a rigid-soft robotic hand w...

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3rd International Conference on Electrical, Electronics, and Information Engineering, EEIE 2024

作者： Wu, Peichen Lan, Fuming Hong, Wen Chen, Xiaoping Shuai, Wei Cui, Guowei Gao, Yang Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangdong Key Laboratory of Modern Control Technology Guangzhou510070 China Shanghai Institute of Aerospace System Engineering Shanghai201100 China Intelligent Manufacturing Institute of HFUT HeFei230041 China School of Computer Science and Technology University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781510688179

In recent years, soft grippers have gained significant attention due to their adaptability and safety. However, when performing horizontal object grasping, their limited structural stiffness prevents them from withstanding the torque generated by friction between the gripper and the object, leading to a loss of contact and limiting their horizontal load capacity. To address this limitation while preserving the adaptability of soft grippers, this paper proposes a gripper structure called the rigid-soft robotic hand, which incorporates lateral rigid connecting rods outside the soft joints. The paper analyzes the bending capacity of the rigid-soft joint using kinematic methods and investigates the influence of link design parameters on maximum bending angle. Subsequently, a finite element analysis is conducted to study the finger structure with the added connecting rods, aiming to optimize the link design parameters. Experimental results demonstrate the grasping capabilities of the rigid-soft gripper in both vertical and horizontal orientations. The findings show that the rigid-soft gripper significantly improves the load-carrying capacity during horizontal object grasping while maintaining the adaptability of the soft gripper. © The Authors.

关键词： Robotic arms

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Robust Fixed-time Composite controller Design with the Unknown System Dynamics Estimator for Nonlinear Robotic Manipulator Systems 24

Robust Fixed-time Composite Controller Design with the Unkno...

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2nd International Conference on Frontiers of intelligent Manufacturing and Automation, CFIMA 2024

作者： Li, Siyan Xing, Yashan Na, Jing Li, Qi Faculty of Mechanical and Electrical Engineering Yunnan Key Laboratory of Intelligent Control and Application Kunming University of Science and Technology Yunnan China

ISBN: (纸本)9798400710681

In this paper, a robust fixed-time composite control scheme based on an Unknown System Dynamics Estimator (USDE) is proposed. The proposed control method guarantees the tracking error convergence in a fixed-time for nonlinear robotic manipulators with unknown dynamics and disturbance. To address the existence of uncertainties, first, a simple structure of USDE by a low-pass filtering operation is constructed without using acceleration signals, Which is adjusted for only one filter coefficient. Then, the USDE compensate the estimated value into the robust fixed-time composite controller. The composite controller contains a fixed time control term, a robust control term, and a computed torque control term. By the fixed-time control term, the upper bound on the convergence time is independent of the initial conditions of the system, which ensures fast-tracking tasks for the robot manipulator. And the robust control term is used to reduce the impact of USDE estimation errors. The stability of the closed-loop system is demonstrated through Lyapunov criteria. The validity of the proposed method is verified by simulation. © 2024 Copyright held by the owner/author(s).

关键词： Stability criteria

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